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actuators.h moved so I added hardcoded path as changing include path in setup.makefile didn't work. Also adding DLSetting to setup_actuators to allow reception of actuators settings messages (see conf/settings/actuators.xml).

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This commit is contained in:
Paul Cox
2010-10-01 14:22:49 +00:00
parent 20d4c4f593
commit d9c77c5ba2
2 changed files with 25 additions and 4 deletions
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sw/airborne/actuators.c
+2 -1
View File
@@ -25,6 +25,7 @@
*
*/
#include "actuators.h"
#include "firmwares/fixedwing/actuators.h"
//#include "actuators.h"
uint16_t actuators[SERVOS_NB];
sw/airborne/setup_actuators.c
+23 -3
View File
@@ -3,7 +3,8 @@
#include "interrupt_hw.h"
#include "sys_time.h"
#include "led.h"
#include "actuators.h"
#include "firmwares/fixedwing/actuators.h"
//#include "actuators.h"
#include "airframe.h"
#define DATALINK_C
#include "datalink.h"
@@ -11,6 +12,7 @@
#include "pprz_transport.h"
#include "main_fbw.h"
#include "downlink.h"
#include "settings.h"
#define IdOfMsg(x) (x[1])
@@ -21,9 +23,26 @@ void dl_parse_msg( void ) {
if (msg_id == DL_SET_ACTUATOR) {
uint8_t servo_no = DL_SET_ACTUATOR_no(dl_buffer);
uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer);
LED_TOGGLE(2);
if (servo_no < SERVOS_NB)
SetServo(servo_no, servo_value);
}
#ifdef DlSetting
else if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_SETTING_index(dl_buffer);
float val = DL_SETTING_value(dl_buffer);
DlSetting(i, val);
LED_TOGGLE(2);
for (int j=0 ; j<8 ; j++) {
SetServo(j,actuators[j]);
}
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val);
} else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
uint8_t i = DL_GET_SETTING_index(dl_buffer);
float val = settings_get_value(i);
DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &val);
}
#endif
}
#define PprzUartInit() Link(Init())
@@ -52,8 +71,8 @@ void periodic_task_fbw(void) {
/* t += 1./60.; */
/* uint16_t servo_value = 1500+ 500*sin(t); */
/* SetServo(SERVO_THROTTLE, servo_value); */
// RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM));
RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM));
RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, SERVOS_NB, actuators ));
}
@@ -64,6 +83,7 @@ void event_task_fbw(void) {
if (pprz_msg_received) {
pprz_msg_received = FALSE;
pprz_parse_payload();
LED_TOGGLE(3);
}
if (dl_msg_available) {
dl_parse_msg();